Insertion angle determination device, insertion angle determination method, and insertion angle determination program

Abstract

To reduce over-excavation during blasting excavation.SOLUTION: An insertion angle determination device comprises an excavation position data acquisition unit that acquires excavation position data, which is position information for explosive-charged holes for loading explosives in an upper half of a mountain tunnel, a peripheral excavation surface generation unit that generates a peripheral excavation surface, an excavation plan cross section data acquisition unit, an excavation plan cross section generation unit, an excavation surface point cloud data extraction unit, a minimum over-excavation distance calculation unit that uses excavation plan cross section point cloud data and excavation surface point cloud data to calculate a minimum over-excavation distance, which is a distance between the excavation plan cross section and the excavation surface, and an insertion angle determination unit that, based on the calculated minimum over-excavation distance, rotates the excavation surface point cloud data and the excavation position for each peripheral excavation surface around an excavation start position of the explosive-charged holes while maintaining a distance between the peripheral excavation surface and the excavation surface, and determines an insertion angle for the explosive-charged holes from the excavation position after rotation.SELECTED DRAWING: Figure 2A

Description

[Technical Field]

[0001] The present invention relates to an insertion angle determination device, an insertion angle determination method, and an insertion angle determination program. [Background technology]

[0002] In the above technical field, Patent Document 1 discloses that, within the overexcavation evaluation range, the average overexcavation depth relative to the design excavation surface in the previous drilling is calculated, and the calculated average overexcavation depth and the insertion angle of the previous drilling are substituted into a predetermined calculation formula to calculate the insertion angle for the next drilling (paragraphs

[0017] to

[0020] ,

[0023] to

[0025] ,

[0034] , Figures 5 and 6, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-183647 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology described in Patent Document 1, it is not possible to calculate the overexcavation amount more accurately, and therefore it is not possible to calculate the insertion angle for the next hole drilling with high precision. [Means for solving the problem]

[0005] In order to achieve the above object, the insertion angle determination device according to the present invention comprises: a drilling position data acquisition unit that acquires drilling position data, which is position information of explosive charge drilling holes for loading explosives in the upper half of the mountain tunnel; an outer periphery drilling surface generating unit that extracts the drilling positions of the explosive charge drilling holes on the outer periphery of the upper half of the mountain tunnel from the acquired drilling position data, generates drilling lines of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generates multiple two-triangular surfaces surrounded by the adjacent drilling positions and the drilling lines to generate an outer periphery drilling surface; an excavation plan cross-section data acquisition unit that acquires excavation plan cross-section data, which is design data for the cross-sectional shape of the mountain tunnel; an excavation plan cross section generation unit that generates point cloud data at predetermined intervals along the excavation plan line of the cross section of the mountain tunnel based on the acquired excavation plan cross section data, duplicates each of the generated point cloud data in the excavation direction at the predetermined drilling length and at a predetermined pitch to generate excavation plan cross section point cloud data, and generates an excavation plan cross section from the generated excavation plan cross section point cloud data; an excavation surface point cloud data extraction unit that extracts excavation surface point cloud data of the inner circumferential surface as the excavation surface based on reflected light of laser light scanned on the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position; a minimum overexcavation distance calculation unit that calculates a minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface using the excavation plan cross section point cloud data and the excavation surface point cloud data; An insertion angle determination unit that rotates the excavation surface point cloud data and the drilling position for each of the outer peripheral drilling surfaces, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, around the drilling start position of the explosive charge drilling, and determines the insertion angle of the explosive charge drilling from the drilling position after rotation, based on the calculated minimum over-excavation distance; Equipped with.

[0006] In order to achieve the above object, the insertion angle determination method according to the present invention comprises: a drilling position data acquisition step of acquiring drilling position data, which is position information of explosive charge drilling holes for loading explosives in the upper half of the mountain tunnel; an outer periphery drilling surface generation step of extracting the drilling positions of the explosive-charged drilling holes on the outer periphery of the upper half of the mountain tunnel from the acquired drilling position data, generating drilling lines of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generating multiple two-triangular surfaces surrounded by the adjacent drilling positions and the drilling lines to generate an outer periphery drilling surface; an excavation plan cross-section data acquisition step of acquiring excavation plan cross-section data which is design data for the cross-sectional shape of the mountain tunnel; an excavation plan cross section generation step of generating point cloud data at predetermined intervals along the excavation plan line of the cross section of the mountain tunnel based on the acquired excavation plan cross section data, duplicating each of the generated point cloud data in the excavation direction at the predetermined drilling length and predetermined pitch to generate excavation plan cross section point cloud data, and generating an excavation plan cross section from the generated excavation plan cross section point cloud data; an excavation surface point cloud data extraction step of extracting excavation surface point cloud data of the inner circumferential surface as the excavation surface based on reflected light of laser light scanned on the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position; a minimum overexcavation distance calculation step of calculating a minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface using the excavation plan cross section point cloud data and the excavation surface point cloud data; Based on the calculated minimum overexcavation distance, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, for each of the outer peripheral drilling surfaces, rotate the excavation surface point cloud data and the drilling position around the drilling start position of the explosive charge drilling, and determine the insertion angle of the explosive charge drilling from the drilling position after rotation; Includes.

[0007] Furthermore, in order to achieve the above object, the insertion angle determination program according to the present invention comprises: a drilling position data acquisition step of acquiring drilling position data, which is position information of explosive charge drilling holes for loading explosives in the upper half of the mountain tunnel; an outer periphery drilling surface generation step of extracting the drilling positions of the explosive-charged drilling holes on the outer periphery of the upper half of the mountain tunnel from the acquired drilling position data, generating drilling lines of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generating multiple two-triangular surfaces surrounded by the adjacent drilling positions and the drilling lines to generate an outer periphery drilling surface; an excavation plan cross-section data acquisition step of acquiring excavation plan cross-section data which is design data for the cross-sectional shape of the mountain tunnel; an excavation plan cross section generation step of generating point cloud data at predetermined intervals along the excavation plan line of the cross section of the mountain tunnel based on the acquired excavation plan cross section data, duplicating each of the generated point cloud data in the excavation direction at the predetermined drilling length and predetermined pitch to generate excavation plan cross section point cloud data, and generating an excavation plan cross section from the generated excavation plan cross section point cloud data; an excavation surface point cloud data extraction step of extracting excavation surface point cloud data of the inner circumferential surface as the excavation surface based on reflected light of laser light scanned on the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position; a minimum overexcavation distance calculation step of calculating a minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface using the excavation plan cross section point cloud data and the excavation surface point cloud data; Based on the calculated minimum overexcavation distance, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, for each of the outer peripheral drilling surfaces, rotate the excavation surface point cloud data and the drilling position around the drilling start position of the explosive charge drilling, and determine the insertion angle of the explosive charge drilling from the drilling position after rotation; to be executed by the computer. [Effects of the Invention]

[0008] According to the present invention, the insertion angle for the next drilling can be calculated with high accuracy, so that over-excavation during blasting excavation work for mountain tunnels can be reduced. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram for explaining an outline of an insertion angle determination device according to a first embodiment of the present invention. [Figure 2A] 1 is a block diagram for explaining the configuration of an insertion angle determination device according to a first embodiment of the present invention. [Figure 2B] 3A and 3B are diagrams for explaining determination of an insertion angle by the insertion angle determination device according to the first embodiment of the present invention. [Figure 2C] FIG. 4 is another diagram for explaining the determination of the insertion angle by the insertion angle determination device according to the first embodiment of the present invention. [Figure 2D] FIG. 10 is still another diagram for explaining the determination of the insertion angle by the insertion angle determination device according to the first embodiment of the present invention. [Figure 2E] FIG. 2 is a plan view for explaining details of how an insertion angle is determined by the insertion angle determination device according to the first embodiment of the present invention. [Figure 3] 3 is a diagram for explaining an example of an explosives table included in the insertion angle determination device according to the first embodiment of the present invention. FIG. [Figure 4] 1 is a diagram for explaining the hardware configuration of an insertion angle determination device according to a first embodiment of the present invention. [Figure 5] 4 is a flowchart illustrating a processing procedure of the insertion angle determination device according to the first embodiment of the present invention. [Figure 6A] FIG. 6 is a block diagram for explaining the configuration of an insertion angle determination device according to a second embodiment of the present invention. [Figure 6B] 10 is a diagram for explaining calculation of an over-digging amount by an insertion angle determination device according to a second embodiment of the present invention. FIG. [Figure 6C] FIG. 10 is another diagram for explaining calculation of the over-digging amount by the insert angle determination device according to the second embodiment of the present invention. [Figure 7] 10 is a flowchart illustrating a processing procedure of an insertion angle determination device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail by way of example with reference to the drawings. However, the configurations, numerical values, processing flows, functional elements, etc. described in the following embodiments are merely examples, and are open to modification and alteration, and are not intended to limit the technical scope of the present invention to the following description.

[0011] [First embodiment] An insertion angle determination device 100 according to a first embodiment of the present invention will be described with reference to Figures 1 to 5. Figure 1 is a diagram for explaining an outline of insertion angle determination by the insertion angle determination device 100 according to this embodiment. The insertion angle determination device 100 is a device that determines an insertion angle for reducing over-excavation of peripheral holes.

[0012] Reducing overexcavation during blasting excavation is an important factor in improving the efficiency and economy of construction. To achieve this, it is necessary to appropriately adjust the placement of charge holes (number of holes and hole spacing) and the drilling angle according to the condition of the ground.

[0013] As shown in Figure 1, the computer jumbo (drill jumbo) is equipped with a drill navigation system (110), which can calculate drilling energy, an evaluation index of the ground condition, from the construction data of the drill jumbo used to excavate mountain tunnels. Here, the construction data includes drilling position data and drilling data, etc., and the drilling position data is data including the drilling position and insertion angle, etc., and the drilling data is data including the hydraulic pressure and drilling speed of the rock drill machine, etc. The drill jumbo can then display the calculated drilling energy in three dimensions, thereby displaying the three-dimensional distribution of drilling energy (111).

[0014] After blasting and excavation, a vehicle-mounted 3D scanner (LiDAR (Light Detection and Ranging)) (120) is used to acquire 3D point cloud data of the excavation face, and point cloud data for one section of excavation is extracted (121).

[0015] Then, by using the overexcavation distance calculated from the drilling position data, the point cloud data of the excavation surface, and the point cloud data of the excavation plan surface, the drilling insertion angle can be set, thereby reducing overexcavation.

[0016] Next, the configuration of the insertion angle determination device 100 will be described with reference to Figure 2. The insertion angle determination device 100 has a drilling position data acquisition unit 201, a peripheral drilling surface generation unit 202, an excavation plan cross section data acquisition unit 203, an excavation plan cross section generation unit 204, an excavation surface point cloud data extraction unit 205, a minimum overexcavation distance calculation unit 206, and an insertion angle determination unit 207.

[0017] The drilling position data acquisition unit 201 acquires drilling position data, which is position information for explosive-charged drilling holes in the upper half of a mountain tunnel for loading explosives. As shown in FIG. 2B(a), based on the cross-sectional coordinates of the drilling positions of the explosive-charged holes in the upper half of the tunnel, the tunnel is divided into drilling holes on the outer periphery of the tunnel (outer periphery drilling holes 211: No. 1 to No. 22) and drilling holes on the inner side of the tunnel (inner drilling holes 212: open circles). Each of the outer periphery drilling holes 211, which are drilling holes on the outer periphery, and the inner drilling holes 212, which are drilling holes on the inner side, is loaded with explosives, and drilling is performed in the tunnel axial direction by detonating the loaded explosives.

[0018] Then, the drilling position data acquisition unit 201 assigns numbers to the outer peripheral drilling holes 211, which are the holes on the outer periphery, among the drilling holes divided in this way, as follows: That is, the drilling position data acquisition unit 201 assigns numbers so that the outer peripheral drilling hole 211 with the largest coordinate in the horizontal direction of the cross section of the drilling start position is the starting point (No. 1) and the outer peripheral drilling hole 211 with the smallest coordinate is the end point (No. 22).

[0019] The outer periphery drilling surface generating unit 202 extracts the drilling positions of the explosive-charged drilling holes on the outer periphery of the upper half of the mountain tunnel from the acquired drilling position data, generates drilling lines 221 of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generates two triangular surfaces enclosed by adjacent drilling positions and the drilling lines 221 to generate the outer periphery drilling surface 222 (see Figure 2B(b)). The long side of the outer periphery drilling surface 222 is the predetermined drilling length, that is, the drilling line of the length drilled (excavated) by one blasting. The short side of the outer periphery drilling surface 222 is the line connecting adjacent drilling positions and the line connecting positions located the distance traveled by one blasting from the drilling position. The two triangular areas enclosed by the long and short sides described above constitute the outer periphery drilling surface 222.

[0020] Then, the outer periphery drilling surface generating unit 202 generates divided outer periphery drilling surfaces 223 by dividing the generated outer periphery drilling surface 222, taking into consideration the influence of blasting each of the outer periphery drilling holes 2211. In other words, the influence of blasting the explosives charged in each of the outer periphery drilling holes 211 is limited to the middle between the outer periphery drilling holes, and the divided outer periphery drilling surfaces 223 are generated by dividing the outer periphery drilling surface 222 at the midpoint between the outer periphery drilling holes.

[0021] For example, considering the peripheral drilling holes 211 (No. 1 to No. 2), the impact of blasting the peripheral drilling hole 211 No. 1 extends toward the middle of the distance between the peripheral drilling hole 211 No. 2 and the peripheral drilling hole 211 No. 2. Similarly, the impact of blasting the peripheral drilling hole 211 No. 2 extends toward the peripheral drilling holes 211 No. 1 and No. 3 and the middle of the distance between the peripheral drilling holes 211 No. 1 and No. 3.

[0022] In this way, the effect of blasting each outer peripheral drilling hole 211 extends up to half the distance between adjacent outer peripheral drilling holes 211, so for example, for outer peripheral drilling hole No. 1 211, a divided outer peripheral drilling surface 223 such as that shown in Figure 2B(b) is generated.

[0023] Then, a hexahedron formed by lines perpendicular to the planes passing through the vertices of the generated divided outer peripheral drilling surface 223 (two triangular faces) is set as the calculation target area.

[0024] The excavation plan cross section data acquisition unit 203 acquires excavation plan cross section data, which is design data for the cross section shape of a mountain tunnel. The excavation plan cross section is a two-dimensional cross section as shown in Fig. 2C(a), and is a collection of small points (point cloud).

[0025] The excavation plan cross section generation unit 204 generates point cloud data at predetermined intervals along the excavation plan line of the cross section of the mountain tunnel based on the acquired excavation plan cross section data, duplicates each of the generated point cloud data in the excavation direction at a predetermined excavation length and a predetermined pitch to generate excavation plan cross section point cloud data, and generates an excavation plan cross section from the generated excavation plan cross section point cloud data. In other words, the excavation plan cross section generation unit 204 generates copies of each point in the point cloud of the 2D cross section at intervals of 1 to 2 cm in the excavation direction, at a length corresponding to the length advanced by one excavation, to generate a 3D model (excavation plan cross section) such as that shown in Figure 2C(b). In this way, the excavation plan cross section generation unit 204 generates an excavation plan cross section.

[0026] The excavation surface point cloud data extraction unit 205 extracts excavation surface point cloud data of the inner circumferential surface as the excavation surface based on the reflection of laser light scanned onto the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position. For example, the excavation surface point cloud data extraction unit 205 scans the inner circumferential surface of the excavated mountain tunnel by irradiating it with laser light from an on-board laser sensor, and acquires point cloud data of the excavation surface from the reflection time, reflection intensity, reflection direction, etc. of the reflected light of the irradiated laser light. The point cloud data of the excavation surface obtained here is the entire inner circumferential surface of the excavated mountain tunnel, including the face, and is point cloud data with the depth of one excavation.

[0027] The minimum overexcavation distance calculation unit 206 uses the excavation plan cross section point cloud data and the excavation surface point cloud data to calculate the minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface. That is, it calculates the minimum overexcavation distance (d) that minimizes the distance between the excavation plan cross section and the excavation surface that was actually excavated (see Figures 2D(a) and (b)). The location within the excavation surface where the overexcavation distance is minimum can be said to be the location where excavation was carried out as planned.

[0028] Based on the calculated minimum over-excavation distance, the insertion angle determination unit 207 rotates the excavation surface point cloud data and the drilling position for each of the outer peripheral drilling surfaces around the starting position of the explosive-loaded drilling, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, and determines the insertion angle of the explosive-loaded drilling from the drilling position after rotation.

[0029] The minimum overcut distance can be set to any value, for example, 5 cm. If the calculated minimum overcut distance is smaller than the set minimum overcut distance (if the set minimum overcut distance is larger than the calculated minimum overcut distance), the insertion angle will not be changed.

[0030] Here, with reference to FIG. 2E, the process of determining the insert angle by the insert angle determiner 207 will be described in detail. In this figure, it is assumed that excavation is proceeding in the excavation direction D relative to the working face 230. The excavation plan cross section 231 indicates the position where the natural ground is to be excavated, and the excavation plan cross section 231 can also be represented by dots (△) in the same way as point cloud data. Similarly, the outer periphery excavation position 232 is a hole where explosives are to be charged, and can be excavated using a computer jumbo or the like. As shown in the figure, it can be represented by dots (× in a circle) at a predetermined pitch, similar to point cloud data. The excavation surface 233 indicates the cross section of the natural ground formed by the excavation one cycle before, and can be represented by the point cloud data (◯) of the excavation surface 233. The cross section from the excavation one cycle before is brought in because the natural ground properties, etc. are similar in the previous cycle, and data related to the excavation at that time can be used.

[0031] Here, once the insertion angle determination unit 207 determines the minimum overexcavation distance, it can generate a surface (minimum overexcavation surface 236) located at the minimum overexcavation distance 235 from the excavation plan cross section 231. Then, each point (x in a circle) of the outer periphery drilling position 232 is rotated around the rotation center C so that the distance between the outer periphery drilling position 232 and the excavation surface 233 does not change, so that the point 237 of the point cloud of the excavation surface 233 that is closest to the excavation plan cross section 231 overlaps with the minimum overexcavation surface 236. In other words, each point cloud data of the excavation surface 233 also moves to follow the rotation of each point of the outer periphery drilling position 232. Although the position of the point cloud data changes, the distance between the outer periphery drilling position 232 and the excavation surface 233 does not change. The angle by which the outer periphery drilling position 232 is rotated at this time becomes the insertion angle for the next excavation. In this way, the insertion angle determination unit 207 determines the insertion angle.

[0032] As shown in the figure, the explosives are charged deep inside the peripheral drilling position 232, so the excavation surface 233 far from the working face 230 is located far from the excavation plan cross section 231, i.e., the distance between the excavation plan cross section 231 and the excavation surface 233 is wide. The excavation surface 233 (point 237) closest to the center of the peripheral drilling position 232 is closest to the excavation plan cross section 231, and the distance between the excavation plan cross section 231 and the excavation surface 233 is narrow. Also, the point cloud data on the side of the excavation surface 233 closer to the working face 230 is far from the excavation plan cross section 231 due to the influence of the blasting one cycle before. In other words, in the blasting one cycle before, this position is close to the deep side of the peripheral drilling position 232 and close to the explosives, so it is susceptible to the influence of the explosives and the amount of material removed is large.

[0033] Furthermore, if a hit occurs when the insertion angle is determined using the above-described method, the insertion angle determination unit 207 resets the minimum over-digging distance and determines the insertion angle again. Note that, to avoid complicating the explanation, an example of determining the insertion angle (horizontal angle) in two dimensions has been described here, but even in three dimensions, the insertion angle can be determined in the same way as in two dimensions, simply because the horizontal angle, which is the horizontal component of the insertion angle, further includes the vertical angle, which is the vertical component.

[0034] Next, an example of the explosives table 301 possessed by the insertion angle determination device 100 will be described with reference to Figure 3. The explosives table 301 stores a blasting distance 312 in association with an explosive amount 311. The explosive amount 311 is the amount of explosive to be loaded into a drilled hole (hole drilling position) for loading the explosive. The blasting distance 312 indicates the maximum blasting distance depending on the amount of explosive, i.e., the blasting performance of the explosive. The insertion angle determination device 100 then refers to the explosives table 301 to adjust the amount of explosive to be loaded.

[0035] The hardware configuration of the insertion angle determination device 100 will be described with reference to FIG. 4. The CPU (Central Processing Unit) 410 is a processor for arithmetic and control, and executes programs to realize the various functional components of the insertion angle determination device 100 shown in FIG. 2. The CPU 410 may have multiple processors and execute different programs, modules, tasks, threads, etc. in parallel. The ROM (Read Only Memory) 420 stores fixed data such as initial data and programs, as well as other programs. The network interface 430 communicates with other devices via a network. The CPU 410 is not limited to a single CPU, and may include multiple CPUs or a GPU (Graphics Processing Unit) for image processing. The network interface 430 preferably has a CPU independent of the CPU 410 and writes and reads transmitted and received data to and from an area in the RAM (Random Access Memory) 440. It is also preferable to provide a DMAC (Direct Memory Access Controller) (not shown) for transferring data between the RAM 440 and the storage 450. The CPU 410 recognizes that data has been received or transferred to the RAM 440 and processes the data accordingly. The CPU 410 also prepares the processing results in the RAM 440, and leaves the subsequent transmission or transfer to the network interface 430 or DMAC.

[0036] The RAM 440 is a random access memory used by the CPU 410 as a temporary storage work area. The RAM 440 has a storage area reserved for storing data necessary for implementing this embodiment. The drilling position data 441 is data relating to the position of the drilling for loading explosives. The excavation plan cross section data 442 is data relating to the cross-sectional shape of the tunnel planned before the excavation of the mountain tunnel. The reflected light data 443 is data relating to the reflected light of the laser light irradiated on the excavation surface. The excavation surface point cloud data 444 is data generated from the reflected light of the laser light. The excavation surface shape data 445 is data relating to the actual shape of the excavation surface generated from the point cloud data.

[0037] The transmitted / received data 446 is data transmitted and received via the network interface 430. The RAM 440 also has an application execution area 447 for executing various application modules.

[0038] The storage 450 stores a database, various parameters, or the following data or programs required to implement this embodiment. The storage 450 stores an explosives table 301. The explosives table 301 is a table that manages the relationship between the explosive amount 311 and the blasting distance 312, etc., as shown in FIG. 3.

[0039] The storage 450 further stores a drilling position data acquisition module 451, a peripheral drilling surface generation module 452, a drilling plan cross section data acquisition module 453, a drilling plan cross section generation module 454, a drilling surface point cloud data extraction module 455, a minimum over-excavation distance calculation module 456, and a point angle determination module 457.

[0040] The drilling position data acquisition module 451 is a module that acquires drilling position data, which is position information for explosive charge drilling. The outer periphery drilling surface generation module 452 is a module that generates multiple outer periphery drilling surfaces, which are two triangular surfaces surrounded by adjacent drilling positions and drilling lines. The excavation plan cross-section data acquisition module 453 is a module that acquires excavation plan cross-section data, which is design data for the cross-sectional shape of a mountain tunnel. The excavation plan cross-section generation module 454 is a module that generates an excavation plan cross-section from the excavation plan cross-section data. The excavation surface point cloud data extraction module 455 is a module that extracts excavation point cloud data of the inner surface as the excavation surface based on the reflected light of laser light irradiated on the inner surface of the mountain tunnel. The minimum overexcavation distance calculation module 456 is a module that calculates the minimum overexcavation distance that minimizes the distance between the excavation plan cross-section and the excavation surface, using the excavation plan cross-section point cloud data and the excavation surface point cloud data. The insertion angle determination module 457 is a module that determines the insertion angle of the explosive charge drilling hole based on the calculated minimum overcut distance. These modules 451 to 457 are read into the application execution area 447 of the RAM 440 by the CPU 410 and executed. The control program 458 is a program for controlling the entire insertion angle determination device 100.

[0041] The input / output interface 460 interfaces input / output data with input / output devices. A display unit 461 and an operation unit 462 are connected to the input / output interface 460. A storage medium 464 may also be connected to the input / output interface 460. A speaker 463 serving as an audio output unit, a microphone (not shown) serving as an audio input unit, or a GPS position determination unit may also be connected. Note that the RAM 440 and storage 450 shown in FIG. 4 do not include programs or data related to the general-purpose functions of the insertion angle determination device 100 or other feasible functions.

[0042] Next, the processing procedure of the insertion angle determination device 100 will be described with reference to the flowchart shown in Fig. 5. This flowchart is executed by the CPU 410 in Fig. 4 using the RAM 440, and realizes each functional configuration of the insertion angle determination device 100 in Fig. 2A.

[0043] In step S501, the drilling position data acquisition unit 201 acquires drilling position data, which is position information for explosive-charged drilling holes in the upper half of the mountain tunnel for loading explosives. In step S503, the outer periphery drilling surface generation unit 202 extracts the drilling positions for explosive-charged drilling holes on the periphery of the upper half of the mountain tunnel from the acquired drilling position data. Then, the outer periphery drilling surface generation unit 202 generates drilling lines of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generates multiple two-triangular faces surrounded by adjacent drilling positions and the drilling lines to generate the outer periphery drilling surface.

[0044] In step S505, the excavation plan cross-section data acquisition unit 203 acquires excavation plan cross-section data, which is design data for the cross-sectional shape of the mountain tunnel. In step S507, the excavation plan cross-section generation unit 204 generates point cloud data at predetermined intervals along the excavation plan line of the cross-section of the mountain tunnel based on the acquired excavation plan cross-section data. The excavation plan cross-section generation unit 204 then copies each of the generated point cloud data in the excavation direction at a predetermined excavation length and a predetermined pitch to generate excavation plan cross-section point cloud data, and generates an excavation plan cross-section from the generated excavation plan cross-section point cloud data.

[0045] In step S509, the excavation surface point cloud data extraction unit 205 extracts excavation surface point cloud data of the inner circumferential surface as the excavation surface based on the reflected light of the laser light scanned on the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position. In step S511, the minimum overexcavation distance calculation unit 206 uses the excavation plan cross section point cloud data and the excavation surface point cloud data to calculate the minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface.

[0046] In step S513, the insertion angle determination unit 207 rotates the excavation surface point cloud data and the drilling position for each of the outer peripheral drilling surfaces, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, based on the calculated minimum over-excavation distance, around the start position of the explosive-loaded drilling, and determines the insertion angle of the explosive-loaded drilling from the drilling position after rotation.

[0047] According to this embodiment, the insertion angle can be appropriately set based on the minimum overexcavation distance calculated from the drilling position data and the point cloud data of the excavation surface, so that overexcavation (amount of overexcavation) can be reduced.

[0048] [Second embodiment] Next, an insertion angle determination device 600 according to a second embodiment of the present invention will be described with reference to Figures 6A to 7. Figure 6A is a block diagram illustrating the configuration of insertion angle determination device 600 according to this embodiment. Insertion angle determination device 600 according to this embodiment differs from the first embodiment in that it includes an extraction unit 601, a distance calculation unit 602, and a volume calculation unit 603. As the other configurations and operations are the same as those in the first embodiment, the same configurations and operations are denoted by the same reference numerals and detailed description thereof will be omitted.

[0049] 6B(a), the extraction unit 601 extracts a peripheral excavation surface 610 and an excavation plan cross section 611 located opposite the peripheral excavation surface. In other words, the peripheral excavation surface 610 is the surface of the outer periphery of the mountain tunnel that was actually excavated, and the excavation plan cross section 611 is the excavation cross section that was planned in the planning stage of the mountain tunnel.

[0050] The distance calculation unit 602 divides the predetermined excavation length 614 based on drilling data including at least one of the hydraulic pressure and drilling speed of the rock drill machine for drilling the explosive-loaded drill holes, and calculates the distance 612 between the extracted outer periphery excavation surface and the excavation plan cross section for each divided divided excavation length 615. It calculates the distance 612 of a perpendicular line drawn from the point cloud of the actually excavated excavation surface to the plane of the outer periphery excavation surface. The predetermined excavation length 614 is the length (depth) of each drilling hole, a numerical value calculated from the drilling conditions of the rock drill machine, and the length of the hole into which explosives are charged. Then, the predetermined excavation length 614 is divided into multiple parts of predetermined length to become the divided excavation lengths 615.

[0051] The volume calculation unit 603 calculates the volume of the area surrounded by the extracted outer peripheral excavation surface 610 and the excavation plan cross section 611 for each divided excavation length 615, and divided by the midpoint 613 between adjacent drilling positions. If the area surrounded by the outer peripheral excavation surface 610 and the excavation plan cross section 611 is divided by the midpoint 613, for example, the volume of the area below the midpoint 613 can be calculated to calculate the amount of overexcavation due to the blasting of the explosive-charged drilling of drilling hole No. 1. Similarly, the volume of the area above the midpoint 613 can be calculated to calculate the amount of overexcavation due to the blasting of the explosive-charged drilling of drilling hole No. 2. In this way, the midpoint 613 is the center point between drilling hole No. 1 and drilling hole No. 2, and the amount of overexcavation due to the drilling of both holes can be calculated.

[0052] 6C, by repeating the above operation in the excavation direction 616 (excavation direction) until the predetermined excavation length is reached, it is possible to finally calculate the overexcavation amount for drilling hole No. 1 and drilling hole No. 2 that will occur in one excavation. By calculating the overexcavation amount before and after changing the insertion angle, it is possible to determine whether the determined insertion angle is appropriate.

[0053] According to this embodiment, not only the initial over-excavation distance but also the amount of over-excavation can be calculated, and it is possible to grasp in more detail how much over-excavation can actually be reduced.

[0054] Next, the processing procedure of the insertion angle determination device 600 will be described with reference to the flowchart shown in Fig. 7. This flowchart is executed by the CPU 410 in Fig. 4 using the RAM 440, and realizes each functional configuration of the insertion angle determination device 600 in Fig. 6A.

[0055] In step S701, the extraction unit 601 extracts the outer periphery excavation surface 610 and the excavation plan cross section 611 located opposite the outer periphery excavation surface 610. In step S703, the distance between the extracted outer periphery excavation surface 610 and the excavation plan cross section 611 is calculated at a pitch of the divided excavation length. In step S705, the volume of the area between the outer periphery excavation surface 610 and the excavation plan cross section 611 is calculated. By calculating the volume at a pitch of the divided excavation length, it is possible to calculate the volume of one excavation length (predetermined excavation length) of the area surrounded by the outer periphery excavation surface 610 and the excavation plan cross section 611. Note that the volume is calculated by dividing at the midpoints of adjacent drilling holes. In this way, by calculating the volume by dividing at the midpoints, it is possible to calculate the amount of overexcavation caused by the explosives charged in each of the adjacent drilling holes.

[0056] According to this embodiment, the amount of excess excavation of explosives to be charged in each drilled hole is calculated, so it is possible to determine whether the determined insertion angle is appropriate.

[0057] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-described embodiments and can be modified as appropriate. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. Furthermore, systems or devices that combine separate features included in each embodiment in any manner are also included in the scope of the present invention.

[0058] The present invention may also be applied to a system consisting of multiple devices or to a single device. Furthermore, the present invention may also be applied when an information processing program that realizes the functions of the embodiments is supplied to a system or device and executed by a built-in processor. Therefore, the technical scope of the present invention also includes a program installed on a computer to realize the functions of the present invention, a medium storing the program, a WWW (World Wide Web) server from which the program is downloaded, and a processor that executes the program. In particular, the technical scope of the present invention also includes a non-transitory computer-readable medium storing a program that causes a computer to execute at least the processing steps included in the above-described embodiments.

Claims

1. a drilling position data acquisition unit that acquires drilling position data, which is position information of explosive charge drilling holes for loading explosives in the upper half of the mountain tunnel; an outer periphery drilling surface generating unit that extracts the drilling positions of the explosive charge drilling holes on the outer periphery of the upper half of the mountain tunnel from the acquired drilling position data, generates drilling lines of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generates multiple two-triangular faces surrounded by the adjacent drilling positions and the drilling lines to generate an outer periphery drilling surface; an excavation plan cross-section data acquisition unit that acquires excavation plan cross-section data, which is design data for the cross-sectional shape of the mountain tunnel; an excavation plan cross section generation unit that generates point cloud data at predetermined intervals along the excavation plan line of the cross section of the mountain tunnel based on the acquired excavation plan cross section data, duplicates each of the generated point cloud data in the excavation direction at the predetermined drilling length and at a predetermined pitch to generate excavation plan cross section point cloud data, and generates an excavation plan cross section from the generated excavation plan cross section point cloud data; an excavation surface point cloud data extraction unit that extracts excavation surface point cloud data of the inner circumferential surface as the excavation surface based on reflected light of laser light scanned on the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position; a minimum overexcavation distance calculation unit that calculates a minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface using the excavation plan cross section point cloud data and the excavation surface point cloud data; An insertion angle determination unit that rotates the excavation surface point cloud data and the drilling position for each of the outer peripheral drilling surfaces, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, around the drilling start position of the explosive charge drilling, and determines the insertion angle of the explosive charge drilling from the drilling position after rotation, based on the calculated minimum over-excavation distance; An insertion angle determination device comprising:

2. An extraction unit that extracts the outer peripheral drilling surface and the excavation plan cross section located opposite to the outer peripheral drilling surface; A distance calculation unit that divides the predetermined drilling length based on drilling data including at least one of the hydraulic pressure and drilling speed of the rock drill machine for drilling the explosive-charged drilling hole, and calculates the distance between the extracted outer peripheral drilling surface and the drilling plan cross section for each divided drilling length; A volume calculation unit that calculates the volume of an area that is surrounded by the extracted outer peripheral drilling surface and the drilling plan cross section and is divided at the midpoint of the adjacent drilling positions for each divided excavation length; The insertion angle determining device according to claim 1, further comprising:

3. a drilling position data acquisition step of acquiring drilling position data, which is position information of explosive charge drilling holes for loading explosives in the upper half of the mountain tunnel; an outer periphery drilling surface generation step of extracting the drilling positions of the explosive charge drilling holes on the outer periphery of the upper half of the mountain tunnel from the acquired drilling position data, generating drilling lines of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generating multiple two-triangular faces surrounded by the adjacent drilling positions and the drilling lines to generate an outer periphery drilling surface; an excavation plan cross-section data acquisition step of acquiring excavation plan cross-section data which is design data for the cross-sectional shape of the mountain tunnel; an excavation plan cross section generation step of generating point cloud data at predetermined intervals along the excavation plan line of the cross section of the mountain tunnel based on the acquired excavation plan cross section data, duplicating each of the generated point cloud data in the excavation direction at the predetermined drilling length and predetermined pitch to generate excavation plan cross section point cloud data, and generating an excavation plan cross section from the generated excavation plan cross section point cloud data; an excavation surface point cloud data extraction step of extracting excavation surface point cloud data of the inner circumferential surface as the excavation surface based on reflected light of laser light scanned on the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position; a minimum overexcavation distance calculation step of calculating a minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface using the excavation plan cross section point cloud data and the excavation surface point cloud data; Based on the calculated minimum overexcavation distance, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, for each of the outer peripheral drilling surfaces, rotate the excavation surface point cloud data and the drilling position around the drilling start position of the explosive charge drilling, and determine the insertion angle of the explosive charge drilling from the drilling position after rotation; A method for determining an insertion angle, including:

4. a drilling position data acquisition step of acquiring drilling position data, which is position information of explosive charge drilling holes for loading explosives in the upper half of the mountain tunnel; an outer periphery drilling surface generation step of extracting the drilling positions of the explosive charge drilling holes on the outer periphery of the upper half of the mountain tunnel from the acquired drilling position data, generating drilling lines of a predetermined drilling length along the excavation direction from each of the extracted drilling positions, and generating multiple two-triangular faces surrounded by the adjacent drilling positions and the drilling lines to generate an outer periphery drilling surface; an excavation plan cross-section data acquisition step of acquiring excavation plan cross-section data which is design data for the cross-sectional shape of the mountain tunnel; an excavation plan cross section generation step of generating point cloud data at predetermined intervals along the excavation plan line of the cross section of the mountain tunnel based on the acquired excavation plan cross section data, duplicating each of the generated point cloud data in the excavation direction at the predetermined drilling length and predetermined pitch to generate excavation plan cross section point cloud data, and generating an excavation plan cross section from the generated excavation plan cross section point cloud data; an excavation surface point cloud data extraction step of extracting excavation surface point cloud data of the inner circumferential surface as the excavation surface based on reflected light of laser light scanned on the inner circumferential surface of the mountain tunnel from a laser sensor installed at a predetermined position; a minimum overexcavation distance calculation step of calculating a minimum overexcavation distance that minimizes the distance between the excavation plan cross section and the excavation surface using the excavation plan cross section point cloud data and the excavation surface point cloud data; Based on the calculated minimum overexcavation distance, while maintaining the distance between the outer peripheral drilling surface and the excavation surface, for each of the outer peripheral drilling surfaces, rotate the excavation surface point cloud data and the drilling position around the drilling start position of the explosive charge drilling, and determine the insertion angle of the explosive charge drilling from the drilling position after rotation; A program for determining the insertion angle that causes a computer to execute the above.

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